M3dimControl

Board	Supported
Host System	Yes
V4L2	Yes
Clarity UHD	Yes
Concord PoE	No
GenTL	Yes
GevIQ	Yes
GigE Vision	Yes
Indio	No
Iris GTX	Yes
Radient eV-CL	Yes
Rapixo CL	Yes
Rapixo CoF	Yes
Rapixo CXP	Yes
USB3 Vision	Yes

Control a 3D image processing context or result buffer.

Syntax

void M3dimControl(
    AIL_ID     Context3dimId,  //out
    AIL_INT64  ControlType,    //in
    AIL_DOUBLE ControlValue    //in
)

Description

This function controls a general setting of a 3D image processing context or lattice 3D image processing result buffer. You can typically inquire these settings using M3dimInquire.

Parameters

Context3dimId (out, AIL_ID)

Specifies the identifier of the 3D image processing context or result buffer to control. The context or result buffer must have been previously allocated on the system using M3dimAlloc or M3dimAllocResult.

ControlType (in, AIL_INT64)

Specifies the type of control to set.

ControlValue (in, AIL_DOUBLE)

Specifies the required value for the control.

Parameter Associations

For specifying the control type and control value for a 3D image processing context or result buffer

The following Context3dimId, ControlType, and ControlValue parameter settings can be specified for different types of 3D image processing contexts or a lattice 3D image processing result buffer.

---

Calculate map size context ID

Specifies a calculate map size 3D image processing context, allocated using M3dimAlloc with M_CALCULATE_MAP_SIZE_CONTEXT, and used in M3dimCalculateMapSize operations. The recommended size is useful for allocating a depth map image buffer (using MbufAlloc2d) before calling M3dimProject.

M_CALCULATE_MODE

Sets whether the source point cloud container is organized.M3dimCalculateMapSize calculations are faster with organized point clouds.

Value	Description
M_DEFAULT
M_ORGANIZED	Specifies an organized point cloud. > Note: Note that using this value with an unorganized point will cause an error.
M_UNORGANIZED (default)	Specifies an unorganized point cloud.

M_PIXEL_ASPECT_RATIO

Sets the pixel aspect ratio of the depth map. > Note: This control type must be set to M_NULL if you have already specified a size in X with M_PIXEL_SIZE_X or M_SIZE_X and a size in Y with M_PIXEL_SIZE_Y or M_SIZE_Y. Otherwise, an error will occur.

Value	Description
M_DEFAULT
M_NULL	Specifies that other data determines the pixel aspect ratio, such as the values set with M_PIXEL_SIZE_X and M_PIXEL_SIZE_Y.
Value > 0.0 (default)	Specifies an aspect ratio for the depth map's pixels. The pixel size is computed such that the pixel's length in X divided by its length in Y equals the specified M_PIXEL_ASPECT_RATIO value.

M_PIXEL_SIZE_CONSTRAINT

Sets how to calculate the depth map pixel sizes to fit the required pixel aspect ratio (M_PIXEL_ASPECT_RATIO). > Note: This control type is supported only when M_PIXEL_ASPECT_RATIO is not set to M_NULL and M_PIXEL_SIZE_X, M_PIXEL_SIZE_Y, M_SIZE_X, and M_SIZE_Y are all set to M_NULL.

Value	Description
M_DEFAULT
M_INCREASE_PIXEL_SIZE	Specifies to calculate the pixel sizes such that the pixel size in one dimension is the same as in the source container and the pixel size in the other dimension is increased to fit the required pixel aspect ratio. The dimension chosen from the point cloud lattice is the one that results in the largest pixels given the required pixel aspect ratio. This generates a smaller depth map that might have missing data. > Note: Note that this mode might overestimate the pixel size when an organized image has some pixel rotation, especially if the pixel aspect ratio is large.
M_PRESERVE_WORLD_AREA (default)	Specifies to calculate the pixel sizes such that the area of a pixel is the same as in the source container. For point clouds whose lattice aspect ratio is much different than the required depth map pixel aspect ratio, this can result in data loss in one dimension and gaps in the other dimension.
M_REDUCE_PIXEL_SIZE	Specifies to calculate the pixel sizes such that the pixel size in one dimension is the same as in the source container and the pixel size in the other dimension is decreased to fit the required pixel aspect ratio. The dimension chosen from the point cloud lattice is the one that results in the smallest pixels given the required pixel aspect ratio. This generates a larger depth map that might have gaps. > Note: Note that this mode might overestimate the pixel size when an organized image has some pixel rotation, especially if the pixel aspect ratio is large.

M_PIXEL_SIZE_X

Sets the length in X of one pixel in the depth map. > Note: Note that you cannot set M_PIXEL_SIZE_X at the same time as M_PIXEL_SIZE_Y or M_SIZE_Y, unless M_PIXEL_ASPECT_RATIO is set to M_NULL. > Note: Note that you cannot specify a specific value for M_PIXEL_SIZE_X if you have done so for M_SIZE_X (and vice versa).

Value	Description
M_DEFAULT
M_NULL (default)	Specifies that M3dimCalculateMapSize will compute the pixel size in X.
Value > 0.0	Specifies the length in X of one pixel in the depth map, in world units.

M_PIXEL_SIZE_Y

Sets the length in Y of one pixel in the depth map. > Note: Note that you cannot set M_PIXEL_SIZE_Y at the same time as M_PIXEL_SIZE_X or M_SIZE_X, unless M_PIXEL_ASPECT_RATIO is set to M_NULL. > Note: Note that you cannot specify a specific value for M_PIXEL_SIZE_Y if you have done so for M_SIZE_Y (and vice versa).

Value	Description
M_DEFAULT
M_NULL (default)	Specifies that M3dimCalculateMapSize will compute the pixel size in Y.
Value > 0.0	Specifies the length in Y of one pixel in the depth map, in world units.

M_SIZE_X

Sets the image size of the depth map along the X dimension. > Note: Note that you cannot set M_SIZE_X at the same time as M_PIXEL_SIZE_Y or M_SIZE_Y, unless M_PIXEL_ASPECT_RATIO is set to M_NULL. > Note: Note that you cannot specify a specific value for M_SIZE_X if you have done so for M_PIXEL_SIZE_X (and vice versa).

Value	Description
M_DEFAULT
M_NULL (default)	Specifies that M3dimCalculateMapSize will compute the image size of the depth map in X.
Value > 0.0	Specifies the image size of the depth map in X, in pixel units.

M_SIZE_Y

Sets the image size of the depth map along the Y dimension. > Note: Note that you cannot set M_SIZE_Y at the same time as M_PIXEL_SIZE_X or M_SIZE_X, unless M_PIXEL_ASPECT_RATIO is set to M_NULL. > Note: Note that you cannot specify a specific value for M_SIZE_Y if you have done so for M_PIXEL_SIZE_Y (and vice versa).

Value	Description
M_DEFAULT
M_NULL (default)	Specifies that M3dimCalculateMapSize will compute the image size of the depth map in Y.
Value > 0.0	Specifies the image size of the depth map in Y, in pixel units.

---

Fill gaps context ID

Specifies a fill gaps 3D image processing context, allocated using M3dimAlloc with M_FILL_GAPS_CONTEXT, and used in M3dimFillGaps operations. Gaps are missing or invalid data in a depth or intensity map.

M_FILL_BORDER

Sets whether to propagate the boundary value across each gap that touches the image border.

Value	Description
M_DEFAULT
M_DISABLE	Specifies not to fill gaps that touch the image border.
M_REPLICATE (default)	Specifies to propagate the unique gap boundary value across each gap that touches the image border, replacing gap pixels up to the image border.

M_FILL_MODE

Sets the mode in which to fill gaps in depth maps.

Value	Description
M_DEFAULT
M_X_THEN_Y (default)	Specifies that each depth map row is analyzed so that gap pixels in each row are filled, and then each column is analyzed to fill the remaining gaps. The filling operation used depends on the M_FILL_SHARP_ELEVATION_DEPTH and M_FILL_SHARP_ELEVATION control types. You can specify how to fill gaps that touch the image border with M_FILL_BORDER.
M_Y_THEN_X	Specifies that each depth map column is analyzed so that gap pixels in each column are filled, and then each row is analyzed to fill the remaining gaps. The filling operation used depends on the M_FILL_SHARP_ELEVATION_DEPTH and M_FILL_SHARP_ELEVATION control types. You can specify how to fill gaps that touch the image border with M_FILL_BORDER.

M_FILL_SHARP_ELEVATION

Sets which boundary to use to fill sharp elevation gaps in depth maps. You can specify to propagate either the minimum or maximum gap border value, or not to fill sharp elevation gaps.

Value	Description
M_DEFAULT
M_DISABLE (default)	Specifies not to fill sharp elevation gaps.
M_MAX	Specifies to set the destination pixel(s) to the maximum value of the two pixels on either side of the gap.
M_MIN	Specifies to set the destination pixel(s) to the minimum value of the two pixels on either side of the gap.

M_FILL_SHARP_ELEVATION_DEPTH

Sets the threshold used to differentiate between gradual elevation gaps and sharp elevation gaps in the depth map. If the difference between a gap's boundary values is less than the specified threshold, the gap is considered a gradual elevation gap, otherwise it is considered a sharp elevation gap. Gradual elevation gaps are filled using linear interpolation; sharp elevation gaps are either filled by propagating the value of one of the boundaries or are left unfilled, depending on theM_FILL_SHARP_ELEVATION control type. It is often better to fill gradual elevation gaps using linear interpolation since the underlying surface of such a gap is considered to be part of the same surface as its boundaries. Whereas for sharp elevation gaps, the underlying surface is considered to be discontinuous at least at one of its boundaries, so propagating the value of one of the boundaries is recommended. If a gap is greater than M_FILL_SHARP_ELEVATION_DEPTH, it is replaced using the secondary algorithm described inM_FILL_SHARP_ELEVATION.

Value	Description
M_DEFAULT
M_INFINITE (default)	Specifies that the threshold is infinite. WhenM_INFINITE is specified, all gaps are considered gradual elevation gaps, so linear interpolation is always used andM_FILL_SHARP_ELEVATION is ignored.
Value >= 0.0	Specifies the threshold, in pixel or world units, depending on the units specified with M_INPUT_UNITS. When the threshold is set to 0.0, all gaps are considered sharp elevation gaps, so linear interpolation is never used and all gaps are filled according toM_FILL_SHARP_ELEVATION.

M_FILL_THRESHOLD_X

Sets the maximum X-size of gaps that will be filled. If a gap is larger than the fill threshold in the X or Y direction, it is not replaced.

Value	Description
M_DEFAULT
M_INFINITE (default)	Specifies no maximum in the X-direction.
Value >= 0.0	Specifies the maximum X-size, in pixel or world units, depending on the units specified with M_INPUT_UNITS.

M_FILL_THRESHOLD_Y

Sets the maximum Y-size of gaps that will be filled. If a gap is larger than the fill threshold in the X or Y direction, it is not replaced.

Value	Description
M_DEFAULT
M_INFINITE (default)	Specifies no maximum in the Y-direction.
Value >= 0.0	Specifies the maximum Y-size, in pixel or world units, depending on the units specified with M_INPUT_UNITS.

M_INPUT_UNITS

Sets the units with which to interpret the M_FILL_SHARP_ELEVATION_DEPTH, M_FILL_THRESHOLD_X, and M_FILL_THRESHOLD_Y control types.

Value	Description
M_DEFAULT
M_PIXEL	Specifies to interpret the values in pixel units.
M_WORLD (default)	Specifies to interpret the values in world units.

---

Filter context ID

Specifies a filter 3D image processing context, allocated using M3dimAlloc with M_FILTER_CONTEXT, and used in M3dimFilter operations.

M_DISTANCE_WEIGHT

Sets the amount of smoothing. A larger value applies more smoothing than a smaller value. This control type affects the calculation of the distance Gaussian weight, which is used in the smoothing computation and applies to the distance between points in a neighborhood; the exact calculation depends on the specified weight mode. If M_WEIGHT_MODE is set to M_ABSOLUTE, a point's distance Gaussian weight is set equal to M_DISTANCE_WEIGHT. If M_WEIGHT_MODE is set to M_RELATIVE, the distance Gaussian weight is set to _M_DISTANCE_WEIGHT_ * _d_, where d is an internal value calculated from a point's distance to its neighbors and the number of neighborhood points. If you are unsure of exact values to use, you can set M_WEIGHT_MODE to M_RELATIVE, and Aurora Imaging Library will find a heuristic value as a function of the calculated point density, and then you can increase or decrease the multiplicative factors (M_NORMALS_WEIGHT_FACTOR and M_DISTANCE_WEIGHT) to control the degree of smoothing.

Value	Description
M_DEFAULT
Value > 0.0 (default)	Specifies the amount of smoothing.

M_FILTER_MODE

Sets the type of smoothing operation to perform. Deciding which mode to use depends on your data and application. In general, M_SMOOTH_MLS performs a simple averaging, while M_SMOOTH_BILATERAL conserves edges.

Value	Description
M_DEFAULT
M_SMOOTH_BILATERAL (default)	Specifies to smooth the point cloud using a bilateral filter. A bilateral filter smooths a point cloud while preserving its features; it is effectively an edge-preserving filter. This operation examines a point's distance to its neighbors as well as its distance along a normal direction, to which Gaussian weights are applied. You can control the degree of smoothing and edge preservation with M_DISTANCE_WEIGHT and M_NORMALS_WEIGHT_FACTOR, respectively.
M_SMOOTH_MLS	Specifies to smooth the point cloud using a moving least squares (MLS) filter. MLS performs a local plane fit at each point, projecting the point onto the locally fitted tangent plane.

M_NORMALS_WEIGHT_FACTOR

Sets how well edges are preserved for an M_SMOOTH_BILATERAL operation. A smaller value results in more edge preservation. This control type sets the point normal Gaussian weight (σ _normal) relative to the distance Gaussian weight (σ _distance), according to the following equation: _σ_ <sub>normal</sub> = [M_NORMALS_WEIGHT_FACTOR](../../Reference/3dim/M3dimControl.md) * _σ_ <sub>distance</sub>. > Note: This control type is ignored when M_FILTER_MODE is set to M_SMOOTH_MLS.

Value	Description
M_DEFAULT
Value > 0.0 (default)	Specifies how well edges are preserved for a bilateral smoothing operation.

M_USE_SOURCE_NORMALS

Sets whether to use the source point cloud's normals information, stored in the source container's M_COMPONENT_NORMALS_AIL component. Note that point normal values are necessary for the filter operation. Setting this control type to M_FALSE means that a source normals component is not used, but that normals are freshly calculated. When M_TRUE is specified, point normals are not recalculated if they exist in the source container.

Value	Description
M_DEFAULT
M_FALSE	Specifies not to use source normals information.
M_TRUE (default)	Specifies to use source normals information.

M_WEIGHT_MODE

Sets how the Gaussian weights are determined in the smoothing operation set with M_FILTER_MODE.

Value	Description
M_DEFAULT
M_ABSOLUTE	Specifies to use the distance Gaussian weight directly, without applying a multiplying factor.
M_RELATIVE (default)	Specifies to compute and apply a multiplying factor to the distance Gaussian weight. The relative weight (multiplying factor) is computed as a function of point distances to their neighbors and the number of points in the neighborhood.

---

Lattice context ID

Specifies a lattice 3D image processing context, allocated using M3dimAlloc with M_LATTICE_CONTEXT, and used in M3dimLattice operations.

M_FRACTION_OF_POINTS

Sets the ratio of the total number of required (non-empty) cells to the total number of valid points in the point cloud. Aurora Imaging Library will try to divide the point cloud into cells such that the required number of cells, +/- the specified tolerance (M_FRACTION_OF_POINTS_TOLERANCE), contain at least 1 valid point each. Depending on the spacing between points, the lattice might have extra cells that are empty or that contain only invalid points. If your point cloud contains 100 valid points and you specify a fraction of 0.25, M3dimLattice will attempt to divide the valid points into approximately 25 cells. You can specify the tolerance for this amount using M_FRACTION_OF_POINTS_TOLERANCE. Given the example above, if you specify a tolerance of 0.1, M3dimLattice will attempt to calculate a lattice such that the number of cells with valid points is between 15 and 35. M_FRACTION_OF_POINTS determines the number of valid points that will be left in the point cloud after subsampling and the number of valid depth map pixels after projecting. When using the calculated lattice to subsample the point cloud and the resulting point cloud is organized (M_ORGANIZATION_TYPE is set to M_ORGANIZED), M3dimSample selects 1 point per cell, where empty cells and cells containing only invalid points result in points with 0 confidence. When the resulting point cloud is unorganized (M_ORGANIZATION_TYPE is set to M_UNORGANIZED), M3dimSample ignores empty cells and cells containing only invalid points. When using the calculated lattice to project the point cloud, M3dimProject projects all the points in a cell to the same depth map pixel. Empty cells and cells containing only invalid points will result in invalid pixels. This control type is only available when M_LATTICE_MODE is set toM_FRACTION_OF_POINTS.

Value	Description
M_DEFAULT
0.0 < Value <= 1.0 (default)	Specifies the ratio of required (non-empty) cells to the total number of valid points.

M_FRACTION_OF_POINTS_TOLERANCE

Sets the tolerance to use for M_FRACTION_OF_POINTS when calculating the lattice. M3dimLattice will attempt to calculate a lattice where the minimum number of cells containing valid points is the total number of valid points in the point cloud * (M_FRACTION_OF_POINTS - M_FRACTION_OF_POINTS_TOLERANCE) and the maximum is the total number of valid points in the point cloud * (M_FRACTION_OF_POINTS + M_FRACTION_OF_POINTS_TOLERANCE). Note that the lattice is bound by the structure of the points. Some fractions are not always possible. Note also that the lower the tolerance, the longerM3dimLattice will take to complete. This control type is only available when M_LATTICE_MODE is set toM_FRACTION_OF_POINTS.

Value	Description
M_DEFAULT
0.0 < Value < 1.0 (default)	Specifies the tolerance for the number of required (non-empty) cells.

M_LATTICE_MODE

Sets the mode with which to calculate the lattice.

Value	Description
M_DEFAULT
M_FRACTION_OF_POINTS (default)	Specifies to calculate a lattice that divides points into cells based on the required ratio of non-empty cells to the number of valid points in the point cloud. Specify the required ratio using M_FRACTION_OF_POINTS and M_FRACTION_OF_POINTS_TOLERANCE.
M_SPARSITY_CHANGE	Specifies to calculate a lattice that divides points into cells based on a plateau of sparsity changes as the grid size increases. If there are many grid sizes in which the ratio of non-empty cells to empty cells becomes stable, useM_GRID_SIZE_INDEX to specify which grid size to use.

M_RELATIVE_CELL_SIZE_X

Sets the proportion of the cell size along the X dimension relative to the cell sizes along the Y and Z dimensions. For example, if you set M_RELATIVE_CELL_SIZE_X to 1.0, M_RELATIVE_CELL_SIZE_Y to M_INFINITE, and M_RELATIVE_CELL_SIZE_Z to 2.0, the cells will be twice as long in the Z direction compared to the X direction. > Note: Note that when subsampling using the calculated lattice, calling M3dimSample generates an error if more than 1 of M_RELATIVE_CELL_SIZE_X, M_RELATIVE_CELL_SIZE_Y, or M_RELATIVE_CELL_SIZE_Z is set to M_INFINITE. > Note: Note that when projecting using the calculated lattice, M_RELATIVE_CELL_SIZE_Z must be set to M_INFINITE and M_RELATIVE_CELL_SIZE_X and M_RELATIVE_CELL_SIZE_Y must be set to non-infinite values.

Value	Description
M_DEFAULT
M_INFINITE	Specifies an infinite cell size along X.
Value > 0.0 (default)	Specifies the relative cell size along X.

M_RELATIVE_CELL_SIZE_Y

Sets the proportion of the cell size along the Y dimension relative to the cell sizes along the X and Z dimensions. For example, if you set M_RELATIVE_CELL_SIZE_X to 1.0, M_RELATIVE_CELL_SIZE_Y to M_INFINITE, and M_RELATIVE_CELL_SIZE_Z to 2.0, the cells will be twice as long in the Z direction compared to the X direction. > Note: Note that when subsampling using the calculated lattice, calling M3dimSample generates an error if more than 1 of M_RELATIVE_CELL_SIZE_X, M_RELATIVE_CELL_SIZE_Y, or M_RELATIVE_CELL_SIZE_Z is set to M_INFINITE. > Note: Note that when projecting using the calculated lattice, M_RELATIVE_CELL_SIZE_Z must be set to M_INFINITE and M_RELATIVE_CELL_SIZE_X and M_RELATIVE_CELL_SIZE_Y must be set to non-infinite values.

Value	Description
M_DEFAULT
M_INFINITE	Specifies an infinite cell size along Y.
Value > 0.0 (default)	Specifies the relative cell size along Y.

M_RELATIVE_CELL_SIZE_Z

Sets the proportion of the cell size along the Z dimension relative to the cell sizes along the X and Y dimensions. For example, if you set M_RELATIVE_CELL_SIZE_X to 1.0, M_RELATIVE_CELL_SIZE_Y to M_INFINITE, and M_RELATIVE_CELL_SIZE_Z to 2.0, the cells will be twice as long in the Z direction compared to the X direction. > Note: Note that when subsampling using the calculated lattice, calling M3dimSample generates an error if more than 1 of M_RELATIVE_CELL_SIZE_X, M_RELATIVE_CELL_SIZE_Y, or M_RELATIVE_CELL_SIZE_Z is set to M_INFINITE. > Note: Note that when projecting using the calculated lattice, M_RELATIVE_CELL_SIZE_Z must be set to M_INFINITE and M_RELATIVE_CELL_SIZE_X and M_RELATIVE_CELL_SIZE_Y must be set to non-infinite values.

Value	Description
M_DEFAULT
M_INFINITE	Specifies an infinite cell size along Z.
Value > 0.0 (default)	Specifies the relative cell size along Z.

M_SPARSITY_DIMENSION_TOLERANCE

Sets the tolerance to use for identifying sparsity changes in grid sizes when calculating the lattice. M3dimLattice will attempt to calculate a lattice where the minimum difference in dimensionality between consecutive grid sizes is at least M_SPARSITY_DIMENSION_TOLERANCE. This ensures that sparsity changes are significant enough to distinguish meaningful changes. Note that the lattice is bound by the density and distribution of the points. If the tolerance is too low, the calculation might include insignificant sparsity changes, potentially increasing processing time and noise. Conversely, setting a higher tolerance will result in fewer but more distinct sparsity changes. This control type is only available when M_LATTICE_MODE is set toM_SPARSITY_CHANGE.

Value	Description
M_DEFAULT
Value >= 0.0 (default)	Specifies the minimum allowable difference in dimensionality between consecutive grid sizes used in the lattice calculation.

---

Lattice result buffer ID

Specifies a lattice 3D image processing result buffer, allocated using M3dimAllocResult with M_LATTICE_RESULT, and used to store M3dimLattice results.

M_GRID_SIZE_INDEX

Sets the grid size for which to return all lattice results. You can retrieve the number of grid sizes using M3dimGetResult with M_NUMBER_OF_GRID_SIZES. > Note: Note that as the grid size increases the number of points within each cell grows according to the power of the number of dimensions that are merged.

Value	Description
M_DEFAULT
M_FIRST (default)	Specifies to use the first grid size.
M_LAST	Specifies to use the last grid size.
Value >= 0	Specifies the index of the grid size to use. This value must be less than the number of grid sizes (M3dimGetResult with M_NUMBER_OF_GRID_SIZES). If the index is invalid, an error will occur when calling M3dimGetResult or M3dimCopyResult. Note, the smallest grid size is at index 0.

---

Mesh context ID

Specifies a mesh 3D image processing context, allocated using M3dimAlloc with M_MESH_CONTEXT, and used in M3dimMesh operations. > Note: When setting mesh control types, first use M_MESH_MODE to set the surface reconstruction mode, and then specify appropriate settings as per the specified mode. Not all control types are available for each mode.

M_MAX_DISTANCE

Sets the maximum distance at which to connect 2 neighboring points. > Note: This control type is only available when M_MESH_MODE is set to M_MESH_ORGANIZED.

Value	Description
M_DEFAULT
M_INFINITE (default)	Specifies no distance constraint.
Value	Specifies the maximum distance. Any 2 points separated by a distance greater than the specified value will not be connected.

M_MAXIMUM_NUMBER_NEIGHBORS

Sets the maximum number of neighbors to consider when computing a local plane at each point. > Note: This control type is available only when M_MESH_MODE is set to M_MESH_LOCAL_PLANE.

Value	Description
M_DEFAULT
Value > 0 (default)	Specifies the maximum number of neighbor points.

M_MESH_MODE

Sets the surface reconstruction mode to use for mesh generation. When you set the mode to M_MESH_SMOOTHED, you can trim the mesh to discard outlier points with M_MESH_TRIMMING_LEVEL.

Value	Description
M_DEFAULT
M_MESH_LOCAL_PLANE	Specifies to generate the mesh from local planes that are fit to neighboring points. For each point, neighborhood points are projected to the local plane and the most suitable points in the source point cloud are chosen to form a mesh triangle with the point in question. With this mode, the mesh can have holes. Normal vectors at each point are required. To calculate normal vectors, use M3dimNormals.
M_MESH_ORGANIZED	Specifies to generate the mesh from an organized point cloud or depth map. This mode connects neighboring points and can result in a mesh with holes due to invalid points in the point cloud or depth map.
M_MESH_SMOOTHED (default)	Specifies to generate a mesh with a smoothed surface. With this mode, Aurora Imaging Library creates a new point cloud that has been smoothed to reduce noise; missing data is approximated when possible, resulting in significantly fewer holes. The operation uses a Poisson surface reconstruction algorithm. Normal vectors at each point are required. To calculate normal vectors, use M3dimNormals.

M_MESH_STEP_X

Sets the step interval between points, along the X-axis of the range component, in pixels. The M3dimMesh function connects points that are separated by the specified interval, when creating triangular planes for surface reconstruction. M_MESH_STEP_X specifies an interval in X for each existing band. > Note: Note that, if an invalid point is located at the specified interval (that is, the point's confidence score is 0), no vertex of a triangular plane is formed at this point, and a gap is possible in the resulting mesh. > Note: This control type is only available when M_MESH_MODE is set to M_MESH_ORGANIZED.

Value	Description
M_DEFAULT
Value (default)	Specifies the step interval in the X direction, in pixel units.

M_MESH_STEP_Y

Sets the step interval between points, along the Y-axis of the range component, in pixels. The M3dimMesh function connects points that are separated by the specified interval, when creating triangular planes for surface reconstruction. M_MESH_STEP_Y specifies an interval in Y for each existing band. > Note: Note that, if an invalid point is located at the specified interval (that is, the point's confidence score is 0), no vertex of a triangular plane is formed at this point, and a gap is possible in the resulting mesh. > Note: This control type is only available when M_MESH_MODE is set to M_MESH_ORGANIZED.

Value	Description
M_DEFAULT
Value (default)	Specifies the step interval in the Y direction, in pixel units.

M_MESH_TRIMMING_LEVEL

Sets the trimming level for a mesh, which is applied as a threshold to discard outlier points. Setting a higher value will trim more from the mesh. Note that Aurora Imaging Library applies the threshold to an internal measurement that is related to the density of the vertices in the mesh. A typical value for this control type is 7.0. To disable mesh trimming, set M_MESH_TRIMMING_LEVEL to 0.0. > Note: This control type is available only when M_MESH_MODE is set to M_MESH_SMOOTHED.

Value	Description
M_DEFAULT
M_AUTO (default)	Specifies to automatically calculate the trimming level.
Value >= 0.0	Specifies the trimming level.

M_NEIGHBOR_SEARCH_MODE

Sets the search mode for finding the neighbors of a point. > Note: This control type is available only when M_MESH_MODE is set to M_MESH_LOCAL_PLANE. > Note: Note that M_TREE is typically the most precise because it chooses points that are closest in 3D space, using the Euclidean distance.

Value	Description
M_DEFAULT
M_ORGANIZED	Specifies to use the point cloud's organizational structure to determine the neighbors of a point. This option is supported only for an organized point cloud.
M_TREE (default)	Specifies to use a KD tree search mode to determine a point's neighbors.

M_NEIGHBORHOOD_DISTANCE

Sets the distance that defines the neighborhood of a point; only points within this distance are considered when calculating the local plane of the point. > Note: This control type is available only when M_MESH_MODE is set to M_MESH_LOCAL_PLANE.

Value	Description
M_DEFAULT
M_INFINITE (default)	Specifies no distance constraint.
Value > 0.0	Specifies the neighborhood distance limit, in world units.

M_NEIGHBORHOOD_ORGANIZED_SIZE

Sets the neighborhood size when finding the neighbors of a point in an organized point cloud. The size determines the number of elements along a row or column of the 2D buffer of the range and confidence components. For example, if you set M_NEIGHBORHOOD_ORGANIZED_SIZE to 7, the neighborhood is a 7-element by 7-element region in the source container's 2D grid organization (specifically, in the organized point cloud's M_COMPONENT_RANGE and M_COMPONENT_CONFIDENCE components). > Note: This control type is supported only when using an organized point cloud and only if M_NEIGHBOR_SEARCH_MODE is set to M_ORGANIZED. > Note: This control type is available only when M_MESH_MODE is set to M_MESH_LOCAL_PLANE.

Value	Description
M_DEFAULT
Value >= 3 (default)	Specifies the organized neighborhood size, in number of pixels; the specified value must be an odd number.

M_NUMBER_POINTS_PER_CELL

Sets the number of points within a single octree cell at which the cell will not be split further. > Note: This control type is only available when M_MESH_MODE is set to M_MESH_SMOOTHED. For example, if M_NUMBER_POINTS_PER_CELL is set to 3, any octree cell with 3 or fewer points is not divided further. A larger M_NUMBER_POINTS_PER_CELL can minimize effects due to noise in the source cloud data.

Value	Description
M_DEFAULT
Value (default)	Specifies the number of points, within a single octree cell, at which the cell will not be split further.

M_SURFACE_ANGLE_MAX

Sets the maximum acceptable angle between the normal of a point and that of a neighboring point for the neighbor to be considered for triangulation. If the angle is within this limit, the neighboring point could be part of a triangle for the mesh. > Note: This control type is available only when M_MESH_MODE is set to M_MESH_LOCAL_PLANE.

Value	Description
M_DEFAULT
0.0 < Value < 180.0 (default)	Specifies the maximum angle, in degrees.

M_TREE_MAX_DEPTH

Sets the maximum allowed depth of the octree. The octree partitions the 3D space for the mesh calculation. > Note: This control type is only available when M_MESH_MODE is set to M_MESH_SMOOTHED. The maximum tree depth determines the resolution of the 3D mesh. For example, an M_TREE_MAX_DEPTH set to 8 gives a mesh with a resolution of 2<sup>8</sup> x 2<sup>8</sup> x 2<sup>8</sup>. > Note: Note that a higher octree value gives a higher resolution, but a slower calculation time.

Value	Description
M_DEFAULT
5 <= Value <= 12 (default)	Specifies the maximum octree depth.

M_TRIANGLE_ANGLE_MAX

Sets the maximum interior angle for each mesh triangle. The specified angle must be greater than or equal to the minimum interior angle (M_TRIANGLE_ANGLE_MIN). Note that this maximum is guaranteed; larger angles will not occur. > Note: This control type is available only when M_MESH_MODE is set to M_MESH_LOCAL_PLANE.

Value	Description
M_DEFAULT
0.0 < Value < 180.0 (default)	Specifies the maximum angle, in degrees.

M_TRIANGLE_ANGLE_MIN

Sets the minimum interior angle for each mesh triangle. The specified angle must be less than or equal to the maximum interior angle (M_TRIANGLE_ANGLE_MAX). Note that this minimum is not guaranteed; smaller angles might occur, due to the greedy nature of the meshing algorithm. > Note: This control type is available only when M_MESH_MODE is set to M_MESH_LOCAL_PLANE.

Value	Description
M_DEFAULT
0.0 < Value < 180.0 (default)	Specifies the minimum angle, in degrees.

---

Normals context ID

Specifies a normals 3D image processing context, allocated using M3dimAlloc with M_NORMALS_CONTEXT, and used in M3dimNormals operations.

M_DIRECTION_MODE

Sets the orientation of the normal vectors, towards a reference point or vector set with M_DIRECTION_REFERENCE_..., which are either the X-, Y-, and Z-coordinates of the reference point, or the X-, Y-, and Z-components of the reference vector. A point on a 3-dimensional surface has 2 normal vectors, each perpendicular to the surface, but pointing in opposite directions. M_DIRECTION_MODE sets a preferred orientation for the normals, and therefore sets which normal vector to choose for each point. For example, you can specify a reference point inside your 3D object and use M_AWAY_FROM_POSITION to ensure that all normal vectors point outwards from the object's surface.

Value	Description
M_DEFAULT
M_AWAY_FROM_POSITION	Specifies to choose, for each point, the normal vector that points away from the reference point specified with coordinates M_DIRECTION_REFERENCE_X, M_DIRECTION_REFERENCE_Y, and M_DIRECTION_REFERENCE_Z.
M_TOWARDS_DIRECTION (default)	Specifies to choose, for each point, the normal vector that most closely aligns with the reference vector specified with vector components M_DIRECTION_REFERENCE_X, M_DIRECTION_REFERENCE_Y, and M_DIRECTION_REFERENCE_Z.
M_TOWARDS_POSITION	Specifies to choose, for each point, the normal vector that points towards the reference point specified with coordinates M_DIRECTION_REFERENCE_X, M_DIRECTION_REFERENCE_Y, and M_DIRECTION_REFERENCE_Z.

M_DIRECTION_REFERENCE_X

Sets the X-coordinate or vector component along X for the reference point or vector (respectively) that determines normal vector orientation.

Value	Description
M_DEFAULT
Value (default)	Specifies the X-coordinate or vector component along X.

M_DIRECTION_REFERENCE_Y

Sets the Y-coordinate or vector component along Y for the reference point or vector (respectively) that determines normal vector orientation.

Value	Description
M_DEFAULT
Value (default)	Specifies the Y-coordinate or vector component along Y.

M_DIRECTION_REFERENCE_Z

Sets the Z-coordinate or vector component along Z for the reference point or vector (respectively) that determines normal vector orientation.

Value	Description
M_DEFAULT
Value (default)	Specifies the Z-coordinate or vector component along Z.

M_ENFORCE_CONTINUITY

Sets whether to maintain the general direction of the normals, which prevents large, discontinuous jumps between normal vectors. For example, if 2 neighboring points have normal vectors (0,0,1) and (0,0,-0.9), 1 of the vectors will be flipped so that both point roughly in the same direction. This means that some normals will not respect the specified M_DIRECTION_MODE, but, on average, most normals will respect the specified orientation of the normal vectors. > Note: This option is supported only when M_NEIGHBOR_SEARCH_MODE is set to M_TREE.

Value	Description
M_DEFAULT
M_DISABLE (default)	Specifies to not enforce continuity of normal vectors.
M_ENABLE	Specifies to enforce continuity of normal vectors.

M_MAXIMUM_NUMBER_NEIGHBORS

Sets the maximum number of neighbors to consider when computing a point's normal vector. You must specify M_MAXIMUM_NUMBER_NEIGHBORS when using an M_TREE neighbor search mode.

Value	Description
M_DEFAULT
Value >= 0 (default)	Specifies the maximum number of neighbor points.

M_NEIGHBOR_SEARCH_MODE

Sets the search mode for finding the neighbors of a point, when calculating a point's surface normal vector. > Note: Note that M_ORGANIZED is usually faster, but is less robust to noise. M_TREE is typically the most precise because it chooses points that are closest in 3D space, using the Euclidean distance. You can optionally specify M_NEIGHBORHOOD_DISTANCE to reduce the effect of outlier neighborhood points. Invalid points in a neighborhood are not considered when calculating normal vectors.

Value	Description
M_DEFAULT
M_MESH	Specifies to use the point cloud's mesh component to determine the neighbors of a point. A mesh's triangular faces are composed of connected neighboring points. > Note: This option is available only when the source container has an M_COMPONENT_MESH_AIL component.
M_ORGANIZED	Specifies to use the point cloud's organizational structure to determine the neighbors of a point. This option is supported only for an organized point cloud. When M_ORGANIZED is specified, you must set either M_MAXIMUM_NUMBER_NEIGHBORS or M_NEIGHBORHOOD_ORGANIZED_SIZE to determine the extent of the neighborhood.
M_TREE (default)	Specifies to use a KD tree search mode to determine a point's neighbors. When M_TREE is specified, you must also set M_MAXIMUM_NUMBER_NEIGHBORS.

M_NEIGHBORHOOD_DISTANCE

Sets the distance that defines the neighborhood of a point; only points within this distance are considered for normal vector calculations. > Note: This option is not supported when M_NEIGHBOR_SEARCH_MODE is set to M_MESH

Value	Description
M_DEFAULT
M_INFINITE (default)	Specifies no distance constraint.
Value >= 0.0	Specifies the neighborhood distance limit, in world units.

M_NEIGHBORHOOD_ORGANIZED_SIZE

Sets the neighborhood size when finding the neighbors of a point in an organized point cloud. The size determines the number of elements along a row or column of the 2D buffer of the range and confidence components. For example, if you set M_NEIGHBORHOOD_ORGANIZED_SIZE to 7, the neighborhood is a 7-element by 7-element region in the source container's 2D grid organization (specifically, in the organized point cloud's M_COMPONENT_RANGE and M_COMPONENT_CONFIDENCE components). Normal calculations for points close to the edge of the 2D buffer use a clipped neighborhood. This control type is supported only when using an organized point cloud and only if M_NEIGHBOR_SEARCH_MODE is set to M_ORGANIZED.

Value	Description
M_DEFAULT
Value >= 3 (default)	Specifies the organized neighborhood size, in number of pixels; the specified value must be an odd number.

---

Outliers context ID

Specifies an outliers 3D image processing context, allocated using M3dimAlloc with M_OUTLIERS_CONTEXT, and used in M3dimOutliers operations.

M_DISTANCE_THRESHOLD_MODE

Sets the threshold mode for a local distance operation. The specified mode establishes how to define the cutoff point (threshold) for determining which points are outliers, from a local average distance distribution across all points in the point cloud. A local average distance is the average distance of a point to other points in its neighborhood. To affect the threshold itself, set a scale factor with M_STD_DEVIATION_FACTOR. > Note: This control type is supported only when M_OUTLIER_MODE is set to M_LOCAL_DISTANCE.

Value	Description
M_DEFAULT
M_ROBUST_STD_DEVIATION (default)	Specifies to determine outliers using a threshold based on the median and the mean absolute deviation (MAD) of the local average distance distribution of points in the point cloud. This mode is more robust to extreme outliers. Since such outliers can skew the mean, using the median is often a more accurate middle value.
M_STD_DEVIATION	Specifies to determine outliers using a threshold based on the mean and the standard deviation of the local average distance distribution.

M_MINIMUM_NUMBER_NEIGHBORS

Sets the minimum number of neighbors that a point must have to be considered an inlier, within the distance that defines the neighborhood. The neighborhood distance is either user-defined or automatically set, depending on the M_NEIGHBORHOOD_DISTANCE_MODE setting. > Note: This control type is supported only when M_OUTLIER_MODE is set to M_NUMBER_WITHIN_DISTANCE.

Value	Description
M_DEFAULT
Value > 0 (default)	Specifies the minimum number of neighbors.

M_NEIGHBOR_SEARCH_MODE

Sets the search mode for finding the neighbors of a point. > Note: Note that M_TREE is typically the most precise because it chooses points that are closest in 3D space, using the Euclidean distance.

Value	Description
M_DEFAULT
M_ORGANIZED	Specifies to use the point cloud's organizational structure to determine the neighbors of a point. > Note: This option is supported only for an organized point cloud.
M_TREE (default)	Specifies to use a KD tree search mode to determine a point's neighbors.

M_NEIGHBORHOOD_DISTANCE

Sets the distance that defines the neighborhood of a point; only points within this distance are considered for outlier calculations. > Note: This control type is supported only when M_OUTLIER_MODE is set to M_NUMBER_WITHIN_DISTANCE and M_NEIGHBORHOOD_DISTANCE_MODE is set to M_USER_DEFINED.

Value	Description
M_DEFAULT
Value > 0.0 (default)	Specifies the distance.

M_NEIGHBORHOOD_DISTANCE_METRIC

Sets how to establish the neighborhood of a point, either as a spherical volume around the point (M_EUCLIDEAN), or as a distance in the Z-direction (M_DIRECTION_Z). To set the distance limit of the neighborhood, use M_NEIGHBORHOOD_DISTANCE.

Value	Description
M_DEFAULT
M_DIRECTION_Z	Specifies to use a distance in the Z-direction. > Note: This option is supported only when M_NEIGHBOR_SEARCH_MODE is set to M_ORGANIZED and M_OUTLIER_MODE is set to M_NUMBER_WITHIN_DISTANCE.
M_EUCLIDEAN (default)	Specifies to use a Euclidean distance.

M_NEIGHBORHOOD_DISTANCE_MODE

Sets the mode for computing a point's neighborhood distance. > Note: This control type is supported only when M_OUTLIER_MODE is set to M_NUMBER_WITHIN_DISTANCE.

Value	Description
M_DEFAULT
M_AUTO (default)	Specifies to automatically compute the neighborhood distance.
M_USER_DEFINED	Specifies to use the distance set with M_NEIGHBORHOOD_DISTANCE.

M_NEIGHBORHOOD_ORGANIZED_SIZE

Sets the neighborhood size when finding the neighbors of a point in an organized point cloud. The size determines the number of elements along a row or column of the 2D buffer of the range and confidence components. For example, if you set M_NEIGHBORHOOD_ORGANIZED_SIZE to 7, the neighborhood is a 7-element by 7-element region in the source container's 2D grid organization (specifically, in the organized point cloud's M_COMPONENT_RANGE and M_COMPONENT_CONFIDENCE components). > Note: This control type is supported only when using an organized point cloud and only if M_NEIGHBOR_SEARCH_MODE is set to M_ORGANIZED.

Value	Description
(see M_NEIGHBORHOOD_ORGANIZED_SIZE)

M_NUMBER_NEIGHBORS

Sets the number of neighboring points used to calculate a point's local average distance distribution. > Note: This control type is supported only when M_OUTLIER_MODE is set to M_LOCAL_DISTANCE or M_LOCAL_DENSITY_PROBABILITY.

Value	Description
M_DEFAULT
Value > 0 (default)	Specifies the number of neighbors.

M_OUTLIER_MODE

Sets the mode for determining whether a point is an outlier.

Value	Description
M_DEFAULT
M_LOCAL_DENSITY_PROBABILITY	Specifies to use the density of neighboring points and a probability calculation to determine whether a point is an outlier. With this mode, an outlier probability (_Poutlier_i _) is assigned to each point, based on the local density of its neighborhood. This probability is then compared to a local outlier threshold (below). If a point's local outlier probability is larger than the calculated local outlier threshold, it is considered an outlier. _P<sub>outlier_i</sub> _ > _scale_factor_ * [_local_avg_distance_i_ / _mean(local_avg_distance)_]. The local outlier threshold calculation incorporates a point's local average distance to its neighbors (local_avg_distance_i) divided by the mean local average distance calculated from all points (mean(local_avg_distance)), all multiplied by a scale factor. Set the scale factor with M_PROBABILITY_THRESHOLD_FACTOR. A smaller scale factor rejects more outliers. This mode is useful when point cloud density is variable. For example, if your point cloud has a sparsely populated region (compared to the whole point cloud), other outlier modes might reject points in that region. Using M_LOCAL_DENSITY_PROBABILITY can reduce this risk.
M_LOCAL_DISTANCE (default)	Specifies to use a statistical calculation that considers the average distance of a point to other points in its neighborhood to determine whether the point is an outlier. With this mode, a point is deemed an outlier if its average distance to neighboring points is greater than a calculated threshold. The threshold is a function of the mean or median, the standard deviation or the MAD, and the scale factor. Set the number of neighboring points to consider with M_NUMBER_NEIGHBORS. Set the threshold mode and a scale factor for the calculation with M_DISTANCE_THRESHOLD_MODE and M_STD_DEVIATION_FACTOR, respectively.
M_NUMBER_WITHIN_DISTANCE	Specifies to use the number of points within a defined neighborhood to determine whether a point is an outlier. With this mode, if the number of neighboring points is less than M_MINIMUM_NUMBER_NEIGHBORS, it is considered an outlier. Use M_NEIGHBORHOOD_DISTANCE_METRIC to set either a spherical neighborhood (M_EUCLIDEAN) or one defined along Z (M_DIRECTION_Z). Define the limits of the neighborhood with M_NEIGHBORHOOD_DISTANCE. This is typically the fastest outlier mode.

M_PROBABILITY_THRESHOLD_FACTOR

Sets the scale factor to use in the probability calculation that determines whether a point is an outlier, when working in the M_LOCAL_DENSITY_PROBABILITY outlier mode. A smaller scale factor rejects more outliers. > Note: This control type is supported only when M_OUTLIER_MODE is set to M_LOCAL_DENSITY_PROBABILITY.

Value	Description
M_DEFAULT
Value > 0.0 (default)	Specifies the scale factor.

M_STD_DEVIATION_FACTOR

Sets the scale factor to use when calculating the local outlier threshold, when working in the M_LOCAL_DISTANCE outlier mode. When M_DISTANCE_THRESHOLD_MODE is set to M_STD_DEVIATION, M_STD_DEVIATION_FACTOR is the factor multiplying the standard deviation of the local average distance distribution. To illustrate, if, in the M_STD_DEVIATION mode, the mean local average distance is 1.0, the standard deviation is 0.3, and M_STD_DEVIATION_FACTOR is set to 3.0, then Aurora Imaging Library calculates the local outlier threshold as follows: _mean_ + _std_deviation_factor_ * _standard_deviation_ = 1.0 + 3.0 * 0.3 = 1.9. For this example, points with local average distances larger than 1.9 are considered outliers. When M_DISTANCE_THRESHOLD_MODE is set to M_ROBUST_STD_DEVIATION, M_STD_DEVIATION_FACTOR is the factor multiplying the mean absolute deviation (MAD) of the local average distance distribution. For either mode, a smaller factor defines a smaller threshold, thereby more aggressively rejecting outliers. > Note: This control type is supported only when M_OUTLIER_MODE is set to M_LOCAL_DISTANCE.

Value	Description
M_DEFAULT
Value > 0.0 (default)	Specifies the scale factor.

---

Profile context ID

Specifies a profile 3D image processing context, allocated using M3dimAlloc with M_PROFILE_CONTEXT, and used in M3dimProfileEx operations.

M_PROFILE_ACCUMULATE_TYPE

Sets how points in a given sample are accumulated to create a single profile point when there are multiple points within the thickness of the profile line.

Value	Description
M_DEFAULT
M_MAX	Specifies to use the largest value of all the points in the sample. > Note: This option is not supported when M_PROFILE_INTERPOLATION_MODE is set to M_AVERAGE.
M_MEAN (default)	Specifies to use the mean value of all the points in the sample.
M_MIN	Specifies to use the smallest value of all the points in the sample. > Note: This option is not supported when M_PROFILE_INTERPOLATION_MODE is set to M_AVERAGE.

M_PROFILE_INTERPOLATION_AVERAGE_FRACTION

Sets the fraction of the sampling distance to use when taking a weighted average of the area surrounding the profile point. For example, a value of 0.5 indicates that 50 percent of the pixel area that surrounds the profile point (defined by 50% of the sampling distance along the line) is used to calculate a weighted average for the profile point. > Note: This control type is only available when M_PROFILE_INTERPOLATION_MODE is set to M_AVERAGE.

Value	Description
M_DEFAULT
0.0 < Value <= 1.0 (default)	Specifies the fraction.

M_PROFILE_INTERPOLATION_MODE

Sets the interpolation mode used to calculate the value for each point in the sample that will be used to create the profile point. Note that when averaging interpolation is used (M_AVERAGE), the profile point is calculated without calculating the value for each point in the sample.

Value	Description
M_DEFAULT
M_AVERAGE	Specifies averaging interpolation. The value of the profile point is determined by taking a weighted average of the pixel area that surrounds the profile point. You can use M_PROFILE_INTERPOLATION_AVERAGE_FRACTION to specify how much of the pixel area to consider.
M_BILINEAR (default)	Specifies bilinear interpolation. The new value is determined by taking a weighted average of the 4 values (2x2) that surround the point in the sample.
M_NEAREST_NEIGHBOR	Specifies nearest neighbor interpolation. The new value is that of the pixel closest to the point in the sample.

M_PROFILE_MIN_VALID_PERCENTAGE

Sets the minimum percentage of points in a given sample that must be valid to set the corresponding profile point to a valid value. When there are multiple points within the thickness for the sample that will be used to create the profile point, the profile point will be invalid if the minimum valid percentage is not met. Note that if results are stored in a profile 3D image processing result buffer, invalid points are not included in the profile.

Value	Description
M_DEFAULT
0.0 <= Value <= 100.0 (default)	Specifies the percentage of points in the sample. Note that a value of 0.0% means there are no constraints on the number of valid points, but if all points contributing to the calculation of a profile point are invalid, the profile point will be invalid in the destination.

M_PROFILE_SAMPLE_SIZE

Sets the sampling distance between two consecutive points along the profile line. When the pixel size in X is not equal to the pixel size in Y in the source depth map, this ensures the extracted points are at a uniform distance. Note that this will be the pixel size of the profile.

Value	Description
M_DEFAULT
Value > 0.0 (default)	Specifies the distance. Use M_PROFILE_SAMPLE_SIZE_MODE to specify how to interpret the specified sampling distance.

M_PROFILE_SAMPLE_SIZE_MODE

Sets how to interpret the specified sampling distance (M_PROFILE_SAMPLE_SIZE).

Value	Description
M_DEFAULT
M_RELATIVE_TO_PIXEL_SIZE_MAX	Specifies to multiply the sampling distance by the pixel size in X or in Y, depending on which is bigger.
M_RELATIVE_TO_PIXEL_SIZE_MIN (default)	Specifies to multiply the sampling distance by the pixel size in X or in Y, depending on which is smaller.
M_RELATIVE_TO_PIXEL_SIZE_X	Specifies to multiply the sampling distance by the pixel size in X. For example, if you set M_PROFILE_SAMPLE_SIZE to 2.0 and the pixel size in X is 0.5 mm, the sampling distance will be 1.0 mm.
M_RELATIVE_TO_PIXEL_SIZE_Y	Specifies to multiply the sampling distance by the pixel size in Y. For example, if you set M_PROFILE_SAMPLE_SIZE to 2.0 and the pixel size in Y is 0.6 mm, the sampling distance will be 1.2 mm.
M_WORLD	Specifies that the sampling distance be interpreted in world units. For example, if you set M_PROFILE_SAMPLE_SIZE to 2.0, the sampling distance will be 2.0 world units.

M_PROFILE_THICKNESS

Sets the thickness of the profile line (slicing plane). Pixels along the line, within the specified thickness, are sampled and corresponding points are considered for the profile. Note that a thick profile line typically results in multiple points contributing to the same profile point. You can use M_PROFILE_ACCUMULATE_TYPE to determine how multiple point values are combined to set the value of the corresponding profile point.

Value	Description
M_DEFAULT
Value > 0.0 (default)	Specifies the thickness. Use M_PROFILE_THICKNESS_MODE to specify how to interpret the specified thickness.

M_PROFILE_THICKNESS_MODE

Sets how to interpret the specified thickness value (M_PROFILE_THICKNESS).

Value	Description
M_DEFAULT
M_RELATIVE_TO_PIXEL_SIZE_MAX	Specifies to multiply the thickness value by the pixel size in X or in Y, depending on which is bigger.
M_RELATIVE_TO_PIXEL_SIZE_MIN (default)	Specifies to multiply the thickness value by the pixel size in X or in Y, depending on which is smaller.
M_RELATIVE_TO_PIXEL_SIZE_X	Specifies to multiply the thickness value by the pixel size in X. For example, if you set M_PROFILE_THICKNESS to 2.0 and the pixel size in X is 0.5 mm, the profile line will be 1.0 mm thick.
M_RELATIVE_TO_PIXEL_SIZE_Y	Specifies to multiply the thickness value by the pixel size in Y. For example, if you set M_PROFILE_THICKNESS to 2.0 and the pixel size in Y is 0.6 mm, the profile line will be 1.2 mm thick.
M_WORLD	Specifies that the thickness value be interpreted in world units. For example, if you set M_PROFILE_THICKNESS to 2.0, the profile line will be 2.0 world units thick.

---

Project context ID

Specifies a project 3D image processing context, allocated using M3dimAlloc with M_PROJECT_CONTEXT, and used in M3dimProjectEx operations.

M_CALCULATE_SIZE_MODE

Sets whether the source point cloud container is organized.M3dimProjectEx calculations are faster with organized point clouds. > Note: This control type is ignored when the source is a 3D geometry object.

Value	Description
M_DEFAULT
M_ORGANIZED	Specifies an organized point cloud. > Note: Note that using this value with an unorganized point cloud will cause an error.
M_UNORGANIZED (default)	Specifies an unorganized point cloud.

M_CALIBRATION_ALIGNMENT

Sets where to place valid values in the depth map.

Value	Description
M_DEFAULT
M_CENTER	Specifies to project the data such that it is centered horizontally or vertically in the buffer. Pixels in unused rows or columns are set to the invalid pixel value. The source data maintains its aspect ratio.
M_TOP_LEFT (default)	Specifies to project the data such that it aligns to the top left of the buffer, and the data extends at least the breadth of one dimension, leaving space at the bottom or right. Pixels in unused rows or columns are set to the invalid pixel value. The source data maintains its aspect ratio.

M_DEPTH_MAP_TYPE

Sets the data type and depth required for the destination container's range component.

Value	Description
M_DEFAULT
M_UNSIGNED + 8	Specifies 8-bit unsigned data.
M_UNSIGNED + 16 (default)	Specifies 16-bit unsigned data.
M_UNSIGNED + 32	Specifies 32-bit unsigned data.

M_OVERLAP_MODE

Sets the overlap mode, which determines a pixel's gray level when multiple points correspond to the same destination depth map pixel.

Value	Description
M_DEFAULT
M_AVERAGE	Specifies to use the average gray level of all the 3D points projected on a single depth map pixel for custom components. Note that for range components, the average Z-coordinate is used. For reflectance and intensity components, the average value is used. For normals components, the average vector is renormalized and flipped towards the most common direction. Note that no other components are projected. > Note: Note that this value is not available when the source is a 3D geometry object.
M_MAX_INTENSITY	Specifies to use the gray level of the 3D point with the highest intensity. The source container must have a reflectance or intensity component. If both reflectance and intensity components exist, only the reflectance component is considered. > Note: Note that this value is not available when the source is a 3D geometry object.
M_MAX_Z (default)	Specifies to use the gray level of the 3D point with the largest Z-value, of all the 3D points projected on a single depth map pixel. Note that this value can be bright or dark, depending on whether the Z-scale is positive or negative (M_SIGN_Z set to M_POSITIVE or M_NEGATIVE).
M_MIN_Z	Specifies to use the gray level of the 3D point with the smallest Z-value, of all the 3D points projected on a single depth map pixel. Note that this value can be dark or bright, depending on whether the Z-scale is positive or negative (M_SIGN_Z set to M_POSITIVE or M_NEGATIVE).
M_MOST_FREQUENT	Specifies to use the most frequent gray level for custom components of typeM_UNSIGNED or M_SIGNED, or the average gray level for custom components of type M_FLOAT, of all the 3D points projected on a single depth map pixel. Note that for range components, the average Z-coordinate is used. For reflectance and intensity components, the average value is used. For normals components, the average vector is renormalized and flipped towards the most common direction. Note that no other components are projected.
M_OVERWRITE	Specifies to use the last gray level of all the 3D points projected on a single depth map pixel. This mode continually overwrites the previous gray value for the pixel. M_OVERWRITE can be marginally faster than the other overlap modes.

M_PIXEL_ASPECT_RATIO

Sets the pixel aspect ratio of the depth map. The pixel aspect ratio is used to calculate the depth map buffer size when the Options parameter of M3dimProjectEx is set to M_USE_BOX_WORLD_SIZE or M_USE_SRC_DATA, and to apply the calibration when not using the M_ACCUMULATE option. > Note: This control type must be set to M_NULL if you have already specified a size in X with M_PIXEL_SIZE_X or M_SIZE_X and a size in Y with M_PIXEL_SIZE_Y or M_SIZE_Y. Otherwise, an error will occur.

Value	Description
M_DEFAULT
M_NULL	Specifies that other data determines the pixel aspect ratio, such as the values set with M_PIXEL_SIZE_X and M_PIXEL_SIZE_Y.
Value > 0.0 (default)	Specifies an aspect ratio for the depth map's pixels. The pixel size is computed such that the pixel's length in X divided by its length in Y equals the specified M_PIXEL_ASPECT_RATIO value.

M_PIXEL_SIZE_X

Sets the length in X of one pixel in the depth map. The pixel size is used to calculate the depth map buffer size when the Options parameter of M3dimProjectEx is set to M_USE_BOX_WORLD_SIZE or M_USE_SRC_DATA, and to apply the calibration when not using the M_ACCUMULATE option. > Note: Note that you cannot set M_PIXEL_SIZE_X at the same time as M_PIXEL_SIZE_Y or M_SIZE_Y, unless M_PIXEL_ASPECT_RATIO is set to M_NULL. > Note: Note that you cannot specify a specific value for M_PIXEL_SIZE_X if you have done so for M_SIZE_X (and vice versa).

Value	Description
M_DEFAULT
M_NULL (default)	Specifies that M3dimProjectEx will compute the pixel size in X.
Value > 0.0	Specifies the length in X of one pixel in the depth map, in world units.

M_PIXEL_SIZE_Y

Sets the length in Y of one pixel in the depth map. The pixel size is used to calculate the depth map buffer size when the Options parameter of M3dimProjectEx is set to M_USE_BOX_WORLD_SIZE or M_USE_SRC_DATA, and to apply the calibration when not using the M_ACCUMULATE option. > Note: Note that you cannot set M_PIXEL_SIZE_Y at the same time as M_PIXEL_SIZE_X or M_SIZE_X, unless M_PIXEL_ASPECT_RATIO is set to M_NULL. > Note: Note that you cannot specify a specific value for M_PIXEL_SIZE_Y if you have done so for M_SIZE_Y (and vice versa).

Value	Description
M_DEFAULT
M_NULL (default)	Specifies that M3dimProjectEx will compute the pixel size in Y.
Value > 0.0	Specifies the length in Y of one pixel in the depth map, in world units.

M_PROJECTED_COMPONENTS

Sets which components to project into the destination depth map.

Value	Description
M_DEFAULT
M_COMPONENT_ALL	Specifies to project all components that have the same dimensions as the source container's range component. > Note: Note that using this value with a destination image buffer will cause an error.
M_COMPONENT_RANGE (default)	Specifies to project the range component.
M_COMPONENT_RANGE_AND_REFLECTANCE	Specifies to project the range component and the reflectance or intensity component. If both reflectance and intensity components exist, the intensity component is not projected. > Note: Note that using this value with a destination image buffer will cause an error.

M_PROJECTION_MODE

Sets the projection mode, which determines how points are projected. > Note: This control type is ignored when the source is a 3D geometry object.

Value	Description
M_DEFAULT
M_MESH_BASED	Specifies to consider the source container's mesh component when extracting 3D points for projection into the depth map. For a meshed point cloud, each triangular face has 3 vertices, and a vertex's Z-value determines the gray level of its corresponding pixel in the depth map. The remaining pixels (in the depth map) are assigned interpolated gray levels, since they correspond to the triangular faces between the vertices (in the point cloud's mesh). The container must have an M_COMPONENT_MESH_AIL component before using the M_MESH_BASED mode.
M_POINT_BASED (default)	Specifies to project the 3D points directly into the depth map.

M_SATURATION

Sets whether to saturate pixels. Note that saturation can occur, depending on the Z-scale and offset of the destination depth map buffer. If, for a given pixel of the destination buffer, the corresponding gray level of the 3D geometry or point of the point cloud falls outside the buffer's grayscale range, the pixel will be saturated to either 0 or the buffer's maximum value minus 1 (the maximum value is reserved to represent missing data).

Value	Description
M_DEFAULT
M_DISABLE (default)	Specifies not to saturate pixels.
M_ENABLE	Specifies to saturate pixels.

M_SIGN_Z

Sets the sign of the Z-scale in the destination depth map. The sign applies to M_3D_SCALE_Z, which sets the length, in world units, of one gray level in a depth map container.

Value	Description
M_DEFAULT
M_NEGATIVE	Specifies a negative value for the Z-scale. A negative value indicates that larger Z-values are represented by darker depth map pixels, and smaller Z-values are represented by brighter depth map pixels.
M_POSITIVE (default)	Specifies a positive value for the Z-scale. A positive value indicates that larger Z-values are represented by brighter depth map pixels, and smaller Z-values are represented by darker depth map pixels.

M_SIZE_X

Sets the size of the depth map along the X dimension. > Note: Note that you cannot set M_SIZE_X at the same time as M_PIXEL_SIZE_Y or M_SIZE_Y, unless M_PIXEL_ASPECT_RATIO is set to M_NULL. > Note: Note that you cannot specify a specific value for M_SIZE_X if you have done so for M_PIXEL_SIZE_X (and vice versa). > Note: This control type is only used when the Options parameter of M3dimProjectEx is set to M_USE_BOX_WORLD_SIZE or M_USE_SRC_DATA.

Value	Description
M_DEFAULT
M_NULL (default)	Specifies that M3dimProjectEx will compute the size of the depth map in X.
Value > 0.0	Specifies the size of the depth map in X, in pixel units.

M_SIZE_Y

Sets the size of the depth map along the Y dimension. > Note: Note that you cannot set M_SIZE_Y at the same time as M_PIXEL_SIZE_X or M_SIZE_X, unless M_PIXEL_ASPECT_RATIO is set to M_NULL. > Note: Note that you cannot specify a specific value for M_SIZE_Y if you have done so for M_PIXEL_SIZE_Y (and vice versa). > Note: This control type is only used when the Options parameter of M3dimProjectEx is set to M_USE_BOX_WORLD_SIZE or M_USE_SRC_DATA.

Value	Description
M_DEFAULT
M_NULL (default)	Specifies that M3dimProjectEx will compute the size of the depth map in Y.
Value > 0.0	Specifies the size of the depth map in Y, in pixel units.

---

Remap context ID

Specifies a remap 3D image processing context, allocated using M3dimAlloc with M_REMAP_CONTEXT, and used in M3dimRemapDepthMap operations.

M_DIRECTION_Z

Sets the sign of the Z-scale in the destination depth map. The sign applies to M_GRAY_LEVEL_SIZE_Z, which sets the length, in world units, of one gray level in a fully-corrected depth map. > Note: Note that when M_REMAP_MODE is set to M_USE_DESTINATION_CALIBRATION, this control type has no effect.

Value	Description
M_DEFAULT
M_NEGATIVE	Specifies a negative value for the Z-scale. A negative value indicates that larger Z-values are represented by darker depth map pixels, and smaller Z-values are represented by brighter depth map pixels.
M_POSITIVE	Specifies a positive value for the Z-scale. A positive value indicates that larger Z-values are represented by brighter depth map pixels, and smaller Z-values are represented by darker depth map pixels.
M_REVERSE	Specifies that the sign of the Z-scale is opposite that of the source depth map.
M_SAME (default)	Specifies that the sign of the Z-scale is the same as that of the source depth map.

M_MAX_Z

Sets the maximum Z-value for the destination depth map when M_REMAP_MODE is set to M_USER_DEFINED.

Value	Description
M_DEFAULT
Value (default)	Specifies the maximum Z-value.

M_MIN_Z

Sets the minimum Z-value for the destination depth map when M_REMAP_MODE is set to M_USER_DEFINED.

Value	Description
M_DEFAULT
Value (default)	Specifies the minimum Z-value.

M_REMAP_MODE

Sets how to determine the Z-range of the destination depth map.

Value	Description
M_DEFAULT
M_BUFFER_LIMITS (default)	Specifies to remap the source depth map using its M_MIN and M_MAX settings as the values to define the destination's Z-range.
M_DATA_EXTREMES	Specifies to remap the source depth map using its maximum and minimum pixel values to define the destination's Z-range.
M_GAUSSIAN	Specifies to remap the source depth map using a specified number of standard deviations from the mean Z-value to define the destination's Z-range. Set the number of standard deviations with M_STANDARD_DEVIATION_FACTOR, which is applied using the following formula: _Source mean_ +/- _Source standard deviation_ * M_STANDARD_DEVIATION_FACTOR.
M_USE_DESTINATION_CALIBRATION	Specifies to remap the source depth map using the destination image buffer's calibration information to define the destination's Z-range.
M_USER_DEFINED	Specifies to remap the source depth map using custom values to define the destination's Z range; use M_MAX_Z and M_MIN_Z to set the range.

M_STANDARD_DEVIATION_FACTOR

Sets the standard deviation factor, for when M_REMAP_MODE is set to M_GAUSSIAN.

Value	Description
M_DEFAULT
Value > 0.0 (default)	Specifies the standard deviation factor.

---

Statistics context ID

Specifies a statistics 3D image processing context, allocated using M3dimAlloc with M_STATISTICS_CONTEXT, and used in M3dimStat operations.

M_BOUNDING_BOX

Sets whether to enable bounding box statistics calculations. The bounding box is an axis-aligned or semi-oriented box that contains all or most of the points in the 3D scene, or it encloses a 3D geometry object. To compute a bounding box (for a point cloud or depth map) that contains most of the valid points instead of all of them, set M_BOUNDING_BOX_ALGORITHM to M_ROBUST.

Value	Description
M_DEFAULT
M_DISABLE (default)	Specifies to disable bounding box calculations.
M_ENABLE	Specifies to enable bounding box calculations.

M_BOUNDING_BOX_ALGORITHM

Sets the algorithm to use when bounding box calculations have been enabled (M_BOUNDING_BOX). The default setting (M_ALL_POINTS) includes all valid points; no valid points exist outside the bounding box. Invalid points can exist inside or outside the bounding box. > Note: This setting is not available for 3D geometries.

Value	Description
M_DEFAULT
M_ALL_POINTS (default)	Specifies to compute the axis-aligned bounding box that contains all the valid points.
M_ROBUST	Specifies to compute an axis-aligned box that contains most of the points, but rejects outliers.

M_BOUNDING_BOX_OUTLIER_RATIO_X

Sets the fraction of points to exclude from the bounding box, based on X-coordinates. A point is excluded when its X-coordinate places the point in an outlier position, and therefore outside the bounding box. The specified value is a decimal fraction between 0.0 and 1.0. For example, if set to 0.01, the furthest 1% of points along X are excluded. Set this control type when bounding box calculations have been enabled (M_BOUNDING_BOX) and M_BOUNDING_BOX_ALGORITHM is set to M_ROBUST. > Note: This setting is not available for 3D geometries.

Value	Description
M_DEFAULT
0.0 <= Value < 1.0 (default)	Specifies the fraction.

M_BOUNDING_BOX_OUTLIER_RATIO_Y

Sets the fraction of points to exclude from the bounding box, based on Y-coordinates. A point is excluded when its Y-coordinate places the point in an outlier position, and therefore outside the bounding box. The specified value is a decimal fraction between 0.0 and 1.0. For example, if set to 0.01, the furthest 1% of points along Y are excluded. Set this control type when bounding box calculations have been enabled (M_BOUNDING_BOX) and M_BOUNDING_BOX_ALGORITHM is set to M_ROBUST. > Note: This setting is not available for 3D geometries.

M_BOUNDING_BOX_OUTLIER_RATIO_Z

Sets the fraction of points to exclude from the bounding box, based on Z-coordinates. A point is excluded when its Z-coordinate places the point in an outlier position, and therefore outside the bounding box. The specified value is a decimal fraction between 0.0 and 1.0. For example, if set to 0.01, the furthest 1% of points along Z are excluded. Set this option when bounding box calculations have been enabled (M_BOUNDING_BOX) and when M_BOUNDING_BOX_ALGORITHM is set to M_ROBUST. > Note: This setting is not available for 3D geometries.

Value	Description
M_DEFAULT
0.0 <= Value < 1.0 (default)	Specifies the fraction.

M_BOX_ORIENTATION

Sets whether to compute an axis-aligned or semi-oriented bounding box.

Value	Description
M_DEFAULT
M_AXIS_ALIGNED (default)	Specifies to compute the minimum volume axis-aligned bounding box.
M_SEMI_ORIENTED	Specifies to compute the minimum volume bounding box that is, by default, axis-aligned in Z but not in X and Y. You can change the axis in which the semi-oriented bounding box is aligned, using M_BOX_SEMI_ORIENTED_ROTATION_AXIS.

M_BOX_SEMI_ORIENTED_ROTATION_AXIS

Sets the axis with which to align the semi-oriented bounding box, when M_BOX_ORIENTATION is set to M_SEMI_ORIENTED. The minimum volume bounding box is computed such that it is aligned with the specified axis and not constrained by the other two axes. This affects the plane to which the semi-oriented bounding box is parallel. For example, if you set this control type to M_AXIS_X, the semi-oriented bounding box will be axis-aligned in X and parallel to the YZ-plane. > Note: This control type is only used when M_BOX_ORIENTATION is set to M_SEMI_ORIENTED.

Value	Description
M_DEFAULT
M_AXIS_X	Specifies to align the semi-oriented bounding box with the X-axis.
M_AXIS_Y	Specifies to align the semi-oriented bounding box with the Y-axis.
M_AXIS_Z (default)	Specifies to align the semi-oriented bounding box with the Z-axis.
M_PRINCIPAL_AXIS_1	Specifies to align the semi-oriented bounding box with the first principal axis. The first principal axis is the direction along which there is the most variance.
M_PRINCIPAL_AXIS_2	Specifies to align the semi-oriented bounding box with the second principal axis. The second principal axis is the direction along which there is the second most variance, perpendicular to the first principal axis.
M_PRINCIPAL_AXIS_3	Specifies to align the semi-oriented bounding box with the third principal axis. The third principal axis is perpendicular to the first and second principal axes.

M_CALCULATE_AVERAGE

Sets whether to calculate the average value for distance-to-nearest-neighbor, surface variation, aspect ratio, and number-of-valid-neighbors calculations.

Value	Description
M_DEFAULT
M_DISABLE	Specifies not to calculate the average value.
M_ENABLE (default)	Specifies to calculate the average value.

M_CALCULATE_MAX

Sets whether to calculate the maximum value for distance-to-nearest-neighbor, surface variation, aspect ratio, and number-of-valid-neighbors calculations.

Value	Description
M_DEFAULT
M_DISABLE	Specifies not to calculate the maximum value.
M_ENABLE (default)	Specifies to calculate the maximum value.

M_CALCULATE_MEDIAN

Sets whether to calculate the median value for distance-to-nearest-neighbor, surface variation, aspect ratio, and number-of-valid-neighbors calculations.

Value	Description
M_DEFAULT
M_DISABLE (default)	Specifies not to calculate the median.
M_ENABLE	Specifies to calculate the median.

M_CALCULATE_MIN

Sets whether to calculate the minimum value for distance-to-nearest-neighbor, surface variation, aspect ratio, and number-of-valid-neighbors calculations.

Value	Description
M_DEFAULT
M_DISABLE	Specifies not to calculate the minimum value.
M_ENABLE (default)	Specifies to calculate the minimum value.

M_CALCULATE_ROBUST_STDEV

Sets whether to calculate the robust standard deviation for distance-to-nearest-neighbor, surface variation, aspect ratio, and number-of-valid-neighbors calculations. This is computed using the median absolute deviation (MAD) and a scale factor of 1.4826.

Value	Description
M_DEFAULT
M_DISABLE (default)	Specifies not to calculate the robust standard deviation.
M_ENABLE	Specifies to calculate the robust standard deviation.

M_CALCULATE_STDEV

Sets whether to calculate the standard deviation for distance-to-nearest-neighbor, surface variation, aspect ratio, and number-of-valid-neighbors calculations.

Value	Description
M_DEFAULT
M_DISABLE	Specifies not to calculate the standard deviation.
M_ENABLE (default)	Specifies to calculate the standard deviation.

M_CENTROID

Sets whether to enable centroid statistics calculations. The centroid is the center of mass of a point cloud, depth map, or 3D geometry. Centroid statistics include the X-, Y-, and Z-coordinates of the centroid.

Value	Description
M_DEFAULT
M_DISABLE (default)	Specifies to disable centroid calculations.
M_ENABLE	Specifies to enable centroid calculations.

M_COMPONENT_OF_INTEREST

Sets the component for which to calculate statistics, when computing statistics on a point cloud.

Value	Description
M_DEFAULT
M_COMPONENT_NORMALS_AIL	Specifies to calculate the statistics on the normals component. > Note: Note that surface variation, aspect ratio, number-of-valid-neighbors, bounding box, and nearest-neighbor statistics are not supported on the normals component, and will generate an error.
M_COMPONENT_RANGE (default)	Specifies to calculate the statistics on the range component.

M_DISTANCE_TO_NEAREST_NEIGHBOR

Sets whether to enable distance-to-nearest-neighbor statistics calculations. Distance-to-nearest-neighbor statistics include the average distance, the maximum distance, and the minimum distance of 3D points or real world coordinates to their nearest neighbor. > Note: Note that distance-to-nearest-neighbor statistics are not available for 3D geometries.

Value	Description
M_DEFAULT
M_DISABLE (default)	Specifies to disable distance-to-nearest-neighbor calculations.
M_ENABLE	Specifies to enable distance-to-nearest-neighbor calculations.

M_MAX_DISTANCE

Sets the maximum distance from a point within which other points are considered its neighbors when calculating distance-to-nearest-neighbor, surface variation, aspect ratio, and number-of-valid-neighbors statistics.

Value	Description
M_DEFAULT
M_INFINITE (default)	Specifies that there is no maximum distance.
Value > 0.0	Specifies the maximum distance.

M_MAXIMUM_NUMBER_NEIGHBORS

Sets the maximum number of neighbors to consider when calculating distance-to-nearest-neighbor, surface variation, aspect ratio, and number-of-valid-neighbors statistics.

Value	Description
M_DEFAULT
Value > 0 (default)	Specifies the maximum number of neighbors.

M_MOMENT_ORDER

Sets the order up to which moments are calculated. For example, setting this to 3 will calculate third order moments, but also second and first order moments. Note that there are (_N_+1)(_N_+2)/2 moments for order N. For example, if M_MOMENT_ORDER is set to 3, the number of computed moments are 10, 6, and 3 for third, second, and first order moments, respectively.

Value	Description
M_DEFAULT
0 <= Value <= 15 (default)	Specifies the moment order.

M_MOMENTS

Sets whether to enable moments statistics calculations.

Value	Description
M_DEFAULT
M_DISABLE (default)	Specifies to disable moments calculations.
M_ENABLE	Specifies to enable moments calculations.

M_NEIGHBOR_SEARCH_MODE

Sets the search mode for finding the neighbors of a point when calculating distance-to-nearest-neighbor, surface variation, aspect ratio, and number-of-valid-neighbors statistics. > Note: Note that M_TREE is typically the most precise because it chooses points that are closest in 3D space, using the Euclidean distance.

Value	Description
M_DEFAULT
M_AUTO	Specifies to automatically set the search mode based on the point cloud's organization, either M_ORGANIZED if organized or M_TREE if unorganized.
M_ORGANIZED	Specifies to use the point cloud's organizational structure to determine the neighbors of a point. This option is supported only for an organized point cloud.
M_TREE (default)	Specifies to use a KD tree search mode to determine a point's neighbors.

M_NEIGHBORHOOD_ASPECT_RATIO

Sets whether to enable local aspect ratio statistics calculations. For each point, Aurora Imaging Library fits a local plane to neighboring points and determines that plane's aspect ratio. The aspect ratio is calculated by dividing the central point's distance to its closest neighbor along one axis by the distance to its closest neighbor along the other axis. Local aspect ratio statistics describe how skewed the point density is in one direction compared to the other. You typically do not want an aspect ratio higher than 5. Neighborhood-based functions do not benefit from the point cloud being denser in only one direction. In the worst case, a neighborhood with only a single row of points will produce faulty results. You can use M3dimSample to subsample the point cloud to help correct aspect ratios that are too high.

Value	Description
M_DEFAULT
M_DISABLE (default)	Specifies to disable local aspect ratio calculations.
M_ENABLE	Specifies to enable local aspect ratio calculations.

M_NEIGHBORHOOD_ASPECT_RATIO_CLIPPING_VALUE

Sets the maximum value of the neighborhood aspect ratio, to avoid skewed statistics. For example, a neighborhood that looks like a line might have an infinite aspect ratio, which will disproportionately affect statistics such as M_NEIGHBORHOOD_ASPECT_RATIO_AVERAGE and M_NEIGHBORHOOD_ASPECT_RATIO_STDEV. To avoid this, it can be clipped to a maximum value using this control.

Value	Description
M_DEFAULT	Specifies the default value; the default value is 100.0. This means that when the aspect ratio exceeds 100:1 (that is, 100 times more points in one direction), the aspect ratio will be clipped to 100 in statistic calculations.
Value > 1.0	Specifies the maximum value.

M_NEIGHBORHOOD_HEALTHY_THRESHOLD

Sets the minimum number of neighbors that constitute a healthy neighborhood for the M_NEIGHBORHOOD_HEALTHY_PERCENTAGE result type (M3dimGetResult). Most neighborhood-based functions (for example, M3dimNormals) will work poorly if the percentage of points with a healthy neighborhood is too low.

Value	Description
M_DEFAULT
Value > 0 (default)	Specifies the number of neighbors.

M_NEIGHBORHOOD_ORGANIZED_SIZE

Sets the neighborhood size when finding the neighbors of a point in an organized point cloud for distance-to-nearest-neighbor, surface variation, aspect ratio, and number-of-valid-neighbors calculations. The size determines the number of elements along a row or column of the 2D buffer of the range and confidence components. For example, if you set M_NEIGHBORHOOD_ORGANIZED_SIZE to 7, the neighborhood is a 7-element by 7-element region in the source container's 2D grid organization (specifically, in the organized point cloud's M_COMPONENT_RANGE and M_COMPONENT_CONFIDENCE components). This control type is supported only when using an organized point cloud and only if M_NEIGHBOR_SEARCH_MODE is set to M_ORGANIZED.

Value	Description
(see M_NEIGHBORHOOD_ORGANIZED_SIZE)

M_NORMALIZATION_MODE

Sets whether the normalization matrix should transform the point cloud or 3D geometry to fit a signed (M_NORMALIZE_SIGNED) or unsigned (M_NORMALIZE_UNSIGNED) unit box. A signed unit box has a maximum length of 2 (stretches from -1 to +1 along at least one dimension) and is centered at (0,0,0). An unsigned unit box has a maximum length of 1 (stretches from 0 to +1 along at least one dimension) and is centered at (0.5,0.5,0.5).

Value	Description
M_DEFAULT
M_NORMALIZE_SIGNED	Specifies to transform the point cloud or 3D geometry to fit a signed unit box.
M_NORMALIZE_UNSIGNED (default)	Specifies to transform the point cloud or 3D geometry to fit an unsigned unit box.

M_NORMALIZATION_SCALE

Sets how to apply scale values when transforming the point cloud or 3D geometry to fit a unit box. If set to M_UNIFORM, each dimension is scaled using the same value such that the largest dimension fits the unit box, and the remaining dimensions will have the same or smaller lengths. If set to M_NON_UNIFORM, scale values are applied such that all dimensions have the same length and fit a unit cube. > Note: A normalization matrix computed using non-uniform scaling cannot be applied to 3D geometries of type M_SPHERE, M_BOX, or M_CYLINDER.

Value	Description
M_DEFAULT
M_NON_UNIFORM	Applies scale values so that the transformed point cloud or 3D geometry occupies a unit cube.
M_UNIFORM (default)	Applies the same scale value to all dimensions.

M_NUMBER_OF_POINTS

Sets whether to enable number-of-points statistics calculations. Number-of-points statistics include the total number of points, the number of points that are missing data, and the number of valid points. > Note: Note that number-of-points statistics are not available for 3D geometries.

Value	Description
M_DEFAULT
M_DISABLE (default)	Specifies to disable number-of-points calculations.
M_ENABLE	Specifies to enable number-of-points calculations.

M_NUMBER_OF_SAMPLES

Sets the number of sample points to use when calculating distance-to-nearest-neighbor, surface variation, aspect ratio, and number-of-valid-neighbors statistics. By default, Aurora Imaging Library uses all points for the calculation. However, if speed is an issue, you can try specifying a fraction of the total points, which could yield a satisfactory approximate calculation.

Value	Description
M_DEFAULT
M_INFINITE (default)	Specifies to use all points when calculating distance-to-nearest-neighbor and surface variation statistics.
Value > 0	Specifies the number of sample points to use when calculating distance-to-nearest-neighbor and surface variation statistics. If the specified value is greater than the number of valid points, all points are used.

M_NUMBER_OF_VALID_NEIGHBORS

Sets whether to enable number-of-valid-neighbors statistics calculations. Number-of-valid-neighbors statistics allow you to check for degenerate neighborhoods, which negatively affect neighborhood-based functions (for example, M3dimNormals).

Value	Description
M_DEFAULT
M_DISABLE (default)	Specifies to disable number-of-valid-neighbors calculations.
M_ENABLE	Specifies to enable number-of-valid-neighbors calculations.

M_PCA

Sets whether to enable principal component analysis (PCA) statistics calculations.

Value	Description
M_DEFAULT
M_DISABLE (default)	Specifies to disable PCA calculations.
M_ENABLE	Specifies to enable PCA calculations.

M_PCA_MODE

Sets whether to calculate the principal component analysis (PCA) around the origin (M_ORDINARY) or around the centroid (M_CENTRAL). Ordinary mode is usually only used on data that is already centralized, such as normals.

Value	Description
M_DEFAULT
M_CENTRAL (default)	Specifies to calculate the PCA around the centroid.
M_ORDINARY	Specifies to calculate the PCA around the origin.

M_SURFACE_AREA

Sets whether to calculate the surface area of the mesh. The surface area is the sum of the area of all the mesh triangles in the container. > Note: This setting is only available for 3D-processable point cloud and depth map containers that have an M_COMPONENT_MESH_AIL component.

Value	Description
M_DEFAULT
M_DISABLE (default)	Specifies to disable surface area statistics calculations.
M_ENABLE	Specifies to enable surface area statistics calculations.

M_SURFACE_VARIATION

Sets whether to enable surface variation statistics calculations. For each point, Aurora Imaging Library fits a local plane to neighboring points and measures the perpendicular distance of the point to the plane. Surface variation statistics are a measure of a point cloud's noise level.

Value	Description
M_DEFAULT
M_DISABLE (default)	Specifies to disable surface variation statistics calculations.
M_ENABLE	Specifies to enable surface variation statistics calculations.

---

Stitch context ID

Specifies a stitch 3D image processing context, allocated using M3dimAlloc with M_STITCH_CONTEXT, and used in M3dimMerge operations.

M_CALIBRATION_MODE

Sets the calibration mode with which to map depth map pixel coordinates to real-world coordinates.

Value	Description
M_DEFAULT
M_AUTO (default)	Specifies to automatically calibrate the depth maps so that the destination depth map includes all the source depth maps.
M_USER_DEFINED	Specifies to calibrate the depth maps using the values set with M_OFFSET_X and M_OFFSET_Y.

M_INTERPOLATION_FALLBACK_MODE

Sets the type of interpolation to use when stitching the depth maps and there are invalid pixels in the neighborhood of a point. Note that bilinear interpolation is used when all pixels in the neighborhood of a point are valid. Interpolation is only done when M_STITCH_MODE is set to M_PRECISE.

Value	Description
M_DEFAULT
M_INTERPOLATION (default)	Specifies interpolated resizing.
M_NEAREST_NEIGHBOR	Specifies nearest neighbor interpolation. The new value is that of the pixel closest to the source point.

M_OFFSET_X

Sets the X-coordinate of the top-left corner of the destination depth map. > Note: This control type is only used when M_CALIBRATION_MODE is set to M_USER_DEFINED.

Value	Description
M_DEFAULT
Value (default)	Specifies the X-coordinate, in world units.

M_OFFSET_Y

Sets the Y-coordinate of the top-left corner of the destination depth map. > Note: This control type is only used when M_CALIBRATION_MODE is set to M_USER_DEFINED.

Value	Description
M_DEFAULT
Value (default)	Specifies the Y-coordinate, in world units.

M_OVERLAP_MODE

Sets how to determine the pixel value when two or more depth maps overlap.

Value	Description
M_DEFAULT
M_AVERAGE (default)	Specifies to use the average value of the pixels in the overlapping region.
M_MAX	Specifies to use the maximum value of the pixels in the overlapping region.
M_MIN	Specifies to use the minimum value of the pixels in the overlapping region.

M_SIZE_X

Sets the size of the stitched destination depth map along the X dimension.

Value	Description
M_DEFAULT
Value > 0.0 (default)	Specifies the size of the depth map in X, in world units.

M_SIZE_Y

Sets the size of the stitched destination depth map along the Y dimension.

Value	Description
M_DEFAULT
Value > 0.0 (default)	Specifies the size of the depth map in Y, in world units.

M_STATIC_INDEX

Sets the source depth map to which all other depth map pixels will be stitched. For example, if depth maps 1 and 2's pixel size=1, depth map 1 starts at world x=3, and depth map 2 starts at world x=5.25, depth map 2 will be stitched to the nearest depth map 1 pixel, such that the intensity values of the destination pixels at world x=5 and world x=6 will be those of the source pixels at world x=5.25 and world x=6.25, or their intensity values will be interpolated (depending on the value of M_STITCH_MODE).

Value	Description
M_DEFAULT
M_DISABLE (default)	Specifies to use the first depth map in the array.
Value > 0	Specifies the index of the depth map to use. This value must be less than the value passed to the NumContainers parameter of M3dimMerge.

M_STITCH_DIRECTION

Sets the direction in which to stitch the point clouds' component values. Note that stitching does not depend on the coordinates of points.

Value	Description
M_DEFAULT
M_DIRECTION_X	Specifies to stitch the component values of each successive point cloud to the right of the previous point cloud's component values.
M_DIRECTION_Y (default)	Specifies to stitch the component values of each successive point cloud below the previous point cloud's component values.

M_STITCH_MODE

Sets the algorithm to use for stitching depth maps.

Value	Description
M_DEFAULT
M_FAST (default)	Specifies that the depth maps will be stitched quickly, but less accurately. The depth maps are stitched to the nearest pixel. No interpolation is done, even if the source depth maps are misaligned.
M_PRECISE	Specifies that the depth maps will be accurately stitched. Interpolation is done to accurately align the depth maps when stitching them.

---

Subsample context ID

Specifies a subsample 3D image processing context, allocated using M3dimAlloc with M_SUBSAMPLE_CONTEXT, and used in M3dimSample subsampling operations. You can set the type of subsampling operation to perform with M_SUBSAMPLE_MODE.

M_DISTINCT_ANGLE_DIFFERENCE

Sets the minimum angle difference between the normal vector of a point and that of its neighbors, for the point to be kept in the subsample. If a point's normal vector angle is distinct from that of all of its neighbors, the point is kept. Use M_NEIGHBORHOOD_DISTANCE to define the neighborhood of a point. This control type only applies when M_SUBSAMPLE_MODE is set to M_SUBSAMPLE_NORMAL.

Value	Description
M_DEFAULT
0.0 <= Value <= 180.0 (default)	Specifies the minimum angle difference, in degrees.

M_FRACTION_OF_POINTS

Sets the fraction of all valid points to select from the source point cloud. Non-valid points are not considered in the calculation. This control type only applies when M_SUBSAMPLE_MODE is set to M_SUBSAMPLE_RANDOM or M_SUBSAMPLE_GEOMETRIC.

Value	Description
M_DEFAULT
0.0 < Value < 1.0 (default)	Specifies the fraction of all valid points to select randomly from the source point cloud.

M_GRID_SIZE_X

Sets the cell size in the X-direction. > Note: Note that, when M_ORGANIZATION_TYPE is set to M_ORGANIZED, exactly 1 of M_GRID_SIZE_X, M_GRID_SIZE_Y, or M_GRID_SIZE_Z must be set to M_INFINITE. This control type only applies when M_SUBSAMPLE_MODE is set to M_SUBSAMPLE_GRID.

Value	Description
M_DEFAULT
M_INFINITE	Specifies an infinite cell size along X.
Value > 0.0 (default)	Specifies the cell size along X, in world units.

M_GRID_SIZE_Y

Sets the cell size in the Y-direction. > Note: Note that, when M_ORGANIZATION_TYPE is set to M_ORGANIZED, exactly 1 of M_GRID_SIZE_X, M_GRID_SIZE_Y, or M_GRID_SIZE_Z must be set to M_INFINITE. This control type only applies when M_SUBSAMPLE_MODE is set to M_SUBSAMPLE_GRID.

Value	Description
M_DEFAULT
M_INFINITE	Specifies an infinite cell size along Y.
Value > 0.0 (default)	Specifies the cell size along Y, in world units.

M_GRID_SIZE_Z

Sets the cell size in the Z-direction. > Note: Note that, when M_ORGANIZATION_TYPE is set to M_ORGANIZED, exactly 1 of M_GRID_SIZE_X, M_GRID_SIZE_Y, or M_GRID_SIZE_Z must be set to M_INFINITE. This control type only applies when M_SUBSAMPLE_MODE is set to M_SUBSAMPLE_GRID.

Value	Description
M_DEFAULT
M_INFINITE	Specifies an infinite cell size along Z.
Value > 0.0 (default)	Specifies the cell size along Z, in world units.

M_NEIGHBORHOOD_DISTANCE

Sets the distance that defines the neighborhood of a point; for a point to be kept in the subsample, it must be distinct in this neighborhood. Use M_DISTINCT_ANGLE_DIFFERENCE to set whether a point is distinct from other points in its neighborhood. This control type only applies when M_SUBSAMPLE_MODE is set to M_SUBSAMPLE_NORMAL.

Value	Description
M_DEFAULT
Value > 0.0 (default)	Specifies the neighborhood distance, in world units.

M_ORGANIZATION_TYPE

Sets the resulting subsampled point cloud's organizational type.

Value	Description
M_DEFAULT
M_ORGANIZED	Specifies an organized resulting subsampled point cloud. > Note: This control value only applies when M_SUBSAMPLE_MODE is set to M_SUBSAMPLE_DECIMATE or M_SUBSAMPLE_GRID. Note also that, when M_SUBSAMPLE_MODE is set to M_SUBSAMPLE_DECIMATE, M_ORGANIZED is supported only when the source point cloud is organized.
M_UNORGANIZED (default)	Specifies an unorganized resulting subsampled point cloud.

M_POINT_SELECTED

Sets which point to choose when multiple points occupy the same cell, and when 1 of M_GRID_SIZE_... is set to M_INFINITE. > Note: Note that this control type is ignored when none of M_GRID_SIZE_... is set to M_INFINITE. This control type only applies when M_SUBSAMPLE_MODE is set to M_SUBSAMPLE_GRID.

Value	Description
M_DEFAULT	Specifies the default point selection mode.
M_CENTER	Specifies to select the point closest to the center of each 2D cell, as if the point cloud is collapsed onto the plane formed by the 2 non-infinite dimensions.
M_MAX (default)	Specifies to select the highest point along the M_INFINITE axis, for each cell.
M_MIN	Specifies to select the lowest point along the M_INFINITE axis, for each cell.

M_SEED_VALUE

Sets the seed for the random selection of points, for an M_SUBSAMPLE_RANDOM operation. When set to M_DEFAULT, the same sequence of random samples is generated with each call to M3dimSample (for the same source point cloud).

Value	Description
M_DEFAULT
Value > 0 (default)	Specifies the seed for the random selection of points.

M_STEP_SIZE_X

Sets the step interval between points, along the X dimension. Points are selected from the source point cloud's M_COMPONENT_RANGE and M_COMPONENT_CONFIDENCE components, where the point cloud's X-, Y-, and Z-coordinates are stored in separate bands of a 2D (organized) or 1D (unorganized) buffer. M_STEP_SIZE_X specifies an interval in X for each band. If the resulting point cloud is organized, invalid points are included; otherwise they are ignored. This control type only applies when M_SUBSAMPLE_MODE is set to M_SUBSAMPLE_DECIMATE.

Value	Description
M_DEFAULT
Value >= 1 (default)	Specifies the step interval value.

M_STEP_SIZE_Y

Sets the step interval between points, along the Y dimension. Points are selected from the source point cloud's M_COMPONENT_RANGE and M_COMPONENT_CONFIDENCE components, where the point cloud's X-, Y-, and Z-coordinates are stored in separate bands of a 2D (organized) or 1D (unorganized) buffer. > Note: Note that, if the source point cloud is unorganized, M_STEP_SIZE_Y is ignored. M_STEP_SIZE_Y specifies an interval in Y for each band in the range and confidence components. If the resulting point cloud is organized, invalid points are included; otherwise they are ignored. This control type only applies when M_SUBSAMPLE_MODE is set to M_SUBSAMPLE_DECIMATE.

Value	Description
M_DEFAULT
Value >= 1 (default)	Specifies the step interval value.

M_SUBSAMPLE_MODE

Sets the type of subsampling operation to perform.

Value	Description
M_DEFAULT
M_SUBSAMPLE_DECIMATE (default)	Specifies to subsample using a decimation operation, which selects points at regular intervals. Set the interval size with M_STEP_SIZE_X and M_STEP_SIZE_Y. You can set the resulting subsampled point cloud's organizational type with M_ORGANIZATION_TYPE. > Note: Note that M_SUBSAMPLE_DECIMATE can sometimes generate undesirable regular patterns. To avoid such patterns, use random mode (M_SUBSAMPLE_RANDOM) instead.
M_SUBSAMPLE_GEOMETRIC	Specifies to perform a geometrically stable subsampling, which selects points that help 3D registration converge faster and avoid local minima. The underlying algorithm identifies and rejects points that are likely to cause registration to slide away from convergence, while retaining points that constrain rotational and translational transforms during registration. You can set the fraction of points that are retained from the source point cloud with M_FRACTION_OF_POINTS.
M_SUBSAMPLE_GRID	Specifies to subsample using a grid operation, which divides the 3D space into cells and, for each subgroup of points, selects a single point per cell. If you want the grid operation to select a particular fraction of points from the source point cloud, you can use M3dimLattice to calculate the cell size required. Storing or copying the lattice results into a subsample 3D image processing context automatically sets M_SUBSAMPLE_MODE to M_SUBSAMPLE_GRID, M_GRID_SIZE_... to the calculated lattice's cell sizes, and, if 1 of the cell dimensions is infinite, M_ORGANIZATION_TYPE to M_ORGANIZED. Otherwise, set the cell size with M_GRID_SIZE_... and the resulting subsampled point cloud's organizational type with M_ORGANIZATION_TYPE. > Note: Note that, when M_ORGANIZATION_TYPE is set to M_ORGANIZED, exactly 1 of M_GRID_SIZE_X, M_GRID_SIZE_Y, or M_GRID_SIZE_Z must be set to M_INFINITE. When M_ORGANIZATION_TYPE is set to M_UNORGANIZED, you can set at most 1 of M_GRID_SIZE_... to M_INFINITE. > Note: When one of M_GRID_SIZE_... is set to M_INFINITE, the point selected for a cell depends on the mode specified with M_POINT_SELECTED. When none of M_GRID_SIZE_... is set to M_INFINITE, the point selected for a cell is the point closest to the cell's volumetric center.
M_SUBSAMPLE_NORMAL	Specifies to subsample based on normal vector angles and a neighborhood distance. A neighborhood point is selected only if its surface normal vector is distinct from that of all of its neighbors (M_DISTINCT_ANGLE_DIFFERENCE) within the neighborhood defined with M_NEIGHBORHOOD_DISTANCE.
M_SUBSAMPLE_RANDOM	Specifies to subsample using an operation that randomly selects a specified fraction of points from the source point cloud. Set the seed for the random number generation with M_SEED_VALUE; set the fraction with M_FRACTION_OF_POINTS.

M_SUBSAMPLE_NORMAL_MODE

Sets the algorithm to use for subsampling based on normals. This control type only applies when M_SUBSAMPLE_MODE is set to M_SUBSAMPLE_NORMAL.

Value	Description
M_DEFAULT
M_FAST (default)	Specifies faster but approximate subsampling based on normals. Some extra, non-distinct points might be selected in the same neighborhood.
M_PRECISE	Specifies exact subsampling based on normals. All selected points will be distinct in their neighborhood.

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Surface sample context ID

Specifies a surface sample 3D image processing context, allocated using M3dimAlloc with M_SURFACE_SAMPLE_CONTEXT, and used in M3dimSample surface sampling operations.

M_RESOLUTION

Sets the resolution at which to sample the mesh or 3D geometry. This represents the distance between neighboring points on the surface; the smaller the resolution, the more points generated.

Value	Description
M_DEFAULT
Value > 0.0 (default)	Specifies the distance between newly added points on the surface, in world units.

M_SAMPLE_MODE

Sets the mode of the surface sampling operation. The mode establishes whether the destination point cloud will have a mesh structure.

Value	Description
M_DEFAULT
M_SURFACE_GRID (default)	Specifies that surface sampling invalidates the mesh component and the destination container will contain a denser non-meshed point cloud. If an M_COMPONENT_MESH_AIL component exists in the destination container, it is deleted.
M_TESSELLATION	Specifies that surface sampling preserves the mesh component and the destination container will contain a denser meshed point cloud.